com.ur.urcap.api.domain.device.gripper

Interface GripperManager

All Superinterfaces:

DeviceManager

public interface GripperManager
extends DeviceManager

This interface provides functionality for gripper devices in PolyScope. The gripper manager can be for used for e.g. getting all grippers available in PolyScope and accessing a factory for creating Gripper program nodes.

Any URCap implementing the GripperContribution interface or registering a program node contribution/service as a conformant PolyScope gripper device using the GripperRegistrationManager.registerAsGripper(Class) method, will be included in the list of available grippers.

Method Summary

Modifier and Type	Method and Description
GripperNodeFactory	getGripperProgramNodeFactory()
List<GripperDevice>	getGrippers()

Method Detail

getGrippers

List<GripperDevice> getGrippers()

Returns:

list of grippers available in PolyScope

getGripperProgramNodeFactory

GripperNodeFactory getGripperProgramNodeFactory()

Returns:

factory for creating Gripper program nodes